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Proceedings Paper

Local navigation and fuzzy control realization for autonomous guided vehicle
Author(s): El-Sayed H. El-Konyaly; Sabry Fouad Saraya; Raef S. Shehata
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Paper Abstract

This paper addresses the problem of local navigation for an autonomous guided vehicle (AGV) in a structured environment that contains static and dynamic obstacles. Information about the environment is obtained via a CCD camera. The problem is formulated as a dynamic feedback control problem in which speed and steering decisions are made on the fly while the AGV is moving. A decision element (DE) that uses local information is proposed. The DE guides the vehicle in the environment by producing appropriate navigation decisions. Dynamic models of a three-wheeled vehicle for driving and steering mechanisms are derived. The interaction between them is performed via the local feedback DE. A controller, based on fuzzy logic, is designed to drive the vehicle safely in an intelligent and human-like manner. The effectiveness of the navigation and control strategies in driving the AGV is illustrated and evaluated.

Paper Details

Date Published: 29 October 1996
PDF: 12 pages
Proc. SPIE 2904, Intelligent Robots and Computer Vision XV: Algorithms, Techniques,Active Vision, and Materials Handling, (29 October 1996); doi: 10.1117/12.256291
Show Author Affiliations
El-Sayed H. El-Konyaly, Mansoura Univ. (Egypt)
Sabry Fouad Saraya, Mansoura Univ. (Egypt)
Raef S. Shehata, Mansoura Univ. (Egypt)


Published in SPIE Proceedings Vol. 2904:
Intelligent Robots and Computer Vision XV: Algorithms, Techniques,Active Vision, and Materials Handling
David P. Casasent, Editor(s)

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